mujoco-scene-editor 0.1.0

Lightweight scene editor for mujoco

Scene Editor

Lightweight, interactive scene editor for MuJoCo 3.x. Create or edit scenes in your browser to place shapes, import meshes, add robots, and edit elements interactively.

Install

From a local checkout:

pip install -e .
# or with dev tools
pip install -e '.[dev]'

Without installing, you can also run with uv:

# Run the installed console script via uv
uv run scene_editor --help
uv run scene_editor new

The following entry points do a exit, which are part of the scene_editor sub commands:

• mjcreate
• mjedit
• mjprompt

Quickstart

# Start a fresh, empty scene
mjcreate

# Load from MJCF XML or a blueprint JSON
mjedit --model-name path/to/scene.xml
mjedit --model-name path/to/scene.json

# Scan a directory for supported assets (obj, stl, ply, glb, gltf, usd)
scene_editor list-assets --root ~/path/to/assets

When the server starts, it prints a local URL and opens your browser. Quit with Ctrl+C or the "Quit server" button.

Example

Use the provided chemistry lab MJCF as a starting point:

# With pip-installed package
mjedit --model-name examples/prompt/scene_chemistry_lab.xml

# With uv (no install)
uv run mjedit --model-name examples/prompt/scene_chemistry_lab.xml

Then:

• Use "Add Box/Sphere/Cylinder" to place primitive geoms.
• Use "Add Asset" to insert a local mesh from your file system.
• Drag the gizmo to change pose; use “Export” to write MJCF/JSON.

Prompting / Scene Generation Examples

You can conveniently generate a MuJoCo scene from a natural-language prompt (requires an OpenAI API key):

# Set this to your API key
export OPENAI_API_KEY=...
# Generate a scene from a prompt string
mjprompt

# Edit the generated scene. 
mjedit --model-name examples/prompt/scene_coffee_shop.xml

Loading a generated scene might not work out of the box in all cases. Generated scenes can have inconsistencies in geometry but can be easily edited.

Examples

Below are some generated example scenes. More examples are available in the examples/prompt folder.

Living Room	Chess Table
Playground	Chemistry Lab

Limitations

• Importing MuJoCo XML files may alter the internal structure, and some tags are discarded.
• Not all MuJoCo robot descriptions have an equivalent URDF representation.

Links

• Repository: https://github.com/markusgrotz/mujoco-scene-editor
• Issues: https://github.com/markusgrotz/mujoco-scene-editor/issues